• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.240-250
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• 2010

A URC, which is a Ubiquitous Robot Companion, provides services to users in ubiquitous computing environments and has advantage of simplifying robot's hardware and software by distributing the complicated functionality of robots to other system. In this paper, we propose SOWL, which is a software architecture for URC robots and a mixed word of SOMAR and CAWL. SOWL keeps the advantages of URC and it also has the loosely-coupled characteristics. Moreover it makes it easy to develop of URC robot software. The proposed architecture is composed of 4 layers: device software, robot software, robot application, and end user layer. Developers of the each layer is able to build software suitable for their requirements by combining software modules in the lower layer. SOWL consists of SOMAR and CAWL engine. SOMAR, which is a middleware for the execution of device software and robot software, is based on service-oriented architecture(SOA) for robot software. CAWL engine is a system to process CAWL which is a context-aware workflow language. SOWL is able to provide a layered architecture for the execution of a robot software. It also makes it possible for developers of the each layer to build module-based robot software.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1713-1718
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• 2013

In this paper we implement collision avoidance using an artificial potential field and remote control of a mobile robot through ROS(Robot Operating System) among the robot's middleware. We also apply dynamic reconfigure to a node of collision avoidance. The main purposes of ROS are sharing and cooperation. In order to make to fit the purpose of ROS, the hardware that frequently is used in the robot such as LRF and joystick, were reused as node that provide in the ROS.

• ETRI Journal
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• v.29 no.2
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• pp.169-178
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• 2007

With the advent of ubiquitous computing environments, it has become increasingly important for applications to take full advantage of contextual information, such as the user's location, to offer greater services to the user without any explicit requests. In this paper, we propose context-aware active services based on context-aware middleware for URC systems (CAMUS). The CAMUS is a middleware that provides context-aware applications with a development and execution methodology. Accordingly, the applications based on CAMUS respond in a timely fashion to contextual information. This paper presents the system architecture of CAMUS and illustrates the content recommendation and control service agents with the properties, operations, and tasks for context-aware active services. To evaluate CAMUS, we apply the proposed active services to a TV application domain. We implement and experiment with a TV content recommendation service agent, a control service agent, and TV tasks based on CAMUS. The implemented content recommendation service agent divides the user's preferences into common and specific models to apply other recommendations and applications easily, including the TV content recommendations.

• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.705-713
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• 2009

This paper proposes CORBA-based visual servoing system of humanoid robot. To effectively control the humanoid robot which is connected to network, it needs to define necessary services for visual servoing as distribution object, and realize them in the middleware. For realizing it following services should be addressed. Naming service for searching a necessary service with unique name assigned to each object, image service for supplying image obtained from stereo camera. In the experiment, we show the result of balloon tracking and bursting that the robot tracks balloons as target objects in the real time, and if a balloon stop for a certain time, then the robot bursts the balloon.

• Proceedings of the Korea Contents Association Conference
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• 2009.05a
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• pp.822-827
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• 2009

As research for URC robot to advance the robot system dissemination and pracical use becomes active, also interest for robot platform and standardization is increasing. However, URC robot middleware does not involve a convergence with IT. Although it seems to be a high connection between robots and IT, the existing middleware has not considered different environments, thus making convergence efforts difficult. The middleware should improve their functions in order to synchronize with IT and to interact through formatted messages. In this paper, we present the necessity of the formatted message in the development of URC platform. In addition, design of the message protocol for the convergence based on the analysis of RUPI, OPC and SECS-II.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1051-1061
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• 2005

This paper proposes a ubiquitous robot, Ubibot, as an integration of three forms of robots: Software robot (Sobot), Embedded robot (Embot) and Mobile robot (Mobot). A Sobot is a virtual robot, which has the ability to move to any place or connect to any device through a network in order to overcome spatial limitations. It has the capacity to interpret the context and thus interact with the user. An Embot is embedded within the environment or within physical robots. It can recognize the locations of and authenticate the user or robot, and synthesize sensing information. Also it has the ability to deliver essential information to the user or other components of Ubibot by using various types of output devices. A Mobot provides integrated mobile service. In addition, Middleware intervenes different protocols between Sobot, Embot, and Mobot in order to incorporate them reliably. The services provided by Ubibot will be seamless, calm and context-aware based on the combination of these components. This paper presents the basic concepts and structure of Ubibot. A Sobot, called Rity, is introduced in order to investigate the usability of the proposed concepts. Rity is a 3D synthetic character which exists in the virtual world, has a unique IP address and interacts with human beings through Vision Embot, Sound Embot, Position Embot and Voice Embot. Rity is capable of moving into a Mobot and controlling its mobility. In doing so, Rity can express its behavior in the virtual world, for example, wondering or moving about in the real world. The experimental results demonstrate the feasibility of implementing a Ubibot in a networked environment.

• Journal of Advanced Navigation Technology
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• v.15 no.5
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• pp.729-734
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• 2011

In this paper, e-Meters middleware and applications using standardized middleware in the EPCglobal is suggested. An standardized middleware of the EPCglobal is designed to manage as a form of SCM and other logistics. In order to support a variety of services using RFID-based, the system must be able to support each protocol. The main features of e-Meters middleware is consist of information status and delivery, distributed database processing, event data analysis, and handling. To operate real time e-Meters system information, The realized middleware is configured to process the results of data collection.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.10
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• pp.2129-2136
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• 2012

With the increased demand of ubiquitous home services, intelligent robots have wide attentions. This kind of robots offer various services through middleware components which can connect with remote servers. In this paper we present an UPnP(Universal Plug and Play) based open-source software framework which makes control the robots remotely. This UPnP architecture for home networking can provide various communication methodologies like command control, eventing, presentation with web services and so on. This paper shows successful implementation results on two real platforms.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.889-891
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• 2009

The utilization of robot application is growing up in recent years, but there is a constraint to execute various application on the robot because of difference of robot resource. This paper presents the framework in order to solve the resource constraint by sharing resources with other devices near by robot. The framework defines common factors that are needed to collaboration work. Furthermore, We show the working flow of framework with an example consisted of robot and some devices in same network.

• 전자공학회논문지 IE
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• v.44 no.4
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• pp.11-18
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• 2007

Concept of URC does "with me wherever when, and the robot" which provides necessary service to me can be simply defined. This paper uses URC technology and various robots are implemented with a design. That is, we are going to implement that a user controls a virtual robot by communication between URC server with a design. We used an intelligent robot simulation tool, and a developer was easy, and it was intelligent, and we were connected to active URC server, and modeling did a system for simulation to be able to do an URC robot usefully. It was connected to an URC system and various robots and environments were composed with 3D, and, in this paper, a design and implementation did an intelligent robot simulation system so that it was possible by various contents development through simulation. The URC communication protocol and the URC server were based on a Planet v.1.2 ; Network Protocol, CAMUS(Context-Aware Middleware for URC Systems); URC Server, SAM(Service Agent Manager) v.1.2 ; Service API module developed in Electronics & Telecommunications Research Institute (ETRI).